version: 66.14
glider: 527
mission: 9
dive: 4
start: 9 2 120 18 33 1
data:
$ID,527
$MISSION,9
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,2
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56015
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4212
$TGT_DEFAULT_LON,-7043
$TGT_AUTO_DEFAULT,0
$SM_CC,701.3584
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,180
$PITCH_MAX,3650
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,270
$ROLL_MAX,3850
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3300
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,0
$AH0_10V,310
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-174.15747
$PRESSURE_SLOPE,0.00010843292
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.38999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044153966
$SEABIRD_T_H,0.00064440304
$SEABIRD_T_I,2.7248538e-05
$SEABIRD_T_J,3.4282193e-06
$SEABIRD_C_G,-10.077963
$SEABIRD_C_H,1.1533748
$SEABIRD_C_I,-0.0022050336
$SEABIRD_C_J,0.00023474717
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,020920,182935,4744.9492,-12225.2979,5,1.2,16,16.3,0.0,182.2,7,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-45.5
$GPS2,020920,183214,4744.9561,-12225.3096,8,1.2,18,16.3,0.0,12.3,7,8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,182.1,2724,-18.2,-10.000,-20.92,2242
$D_GRID,256
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.67,-146.6,169,2253,477,524,0.0,0.0,0,152,0.00,0.00,-133.45,0.008,16390,0.000,0.000,169,2254,3899,3814,3985,0,0,0,0,0,0,14.83,13.20,14.78
$GC,155,-0.67,-146.6,169,2254,3814,3988,3.5,-7.5,23,170,7.70,2.22,0.00,0.000,2852,0.405,0.037,1777,900,3903,3817,3989,0,0,0,0,0,0,14.28,14.62,14.59
$GC,314,-0.51,-146.6,1777,900,3822,3988,45.8,-22.9,53,324,0.25,2.38,0.00,0.000,3206,0.280,0.067,1826,2275,3905,3822,3988,0,0,0,0,0,0,14.27,14.52,14.51
$GC,508,-0.35,-146.6,1826,2276,3825,3985,84.9,-17.5,90,517,0.22,2.47,0.00,0.000,2436,0.287,0.076,1873,3709,3905,3825,3985,0,0,0,0,0,0,14.28,14.53,14.44
$GC,615,-0.35,-146.6,1872,3709,3825,3985,98.6,-11.2,110,624,0.00,2.33,0.00,0.000,1030,0.000,0.050,1871,2338,3905,3826,3985,0,0,0,0,0,0,14.62,14.54,14.64
$GC,813,-0.29,-146.6,1872,2332,3827,3984,121.9,-11.6,130,821,0.12,2.42,0.00,0.000,2692,0.277,0.057,1899,891,3905,3827,3984,0,0,0,0,0,0,14.39,14.57,14.54
$GC,848,-0.29,-146.6,1899,889,3827,3984,126.5,-10.6,136,856,0.00,2.45,0.00,0.000,1030,0.000,0.066,1893,2306,3905,3827,3984,0,0,0,0,0,0,14.66,14.57,14.69
$STATE,1062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1062,begin apogee
$GC,1068,-0.14,0.0,1893,1687,3831,3984,151.0,-12.2,158,1195,0.20,0.00,117.60,1.144,10246,0.213,0.000,1948,1684,3298,3258,3339,0,0,0,0,0,0,14.39,14.09,13.66
$WARN,HTMICL missed fuel gauge read
$STATE,1199,end apogee,CONTROL_FINISHED_OK
$STATE,1199,begin climb
$GC,1201,0.67,146.6,1949,1684,3258,3337,158.7,0.0,171,1332,0.88,2.47,120.03,1.123,10756,0.172,0.075,2219,298,2699,2675,2724,0,0,0,0,0,0,14.22,14.02,13.59
$GC,1409,0.67,146.6,2219,297,2663,2721,138.4,13.3,209,1418,0.00,2.47,0.00,0.000,1030,0.000,0.065,2219,1704,2692,2663,2721,0,0,0,0,0,0,14.44,14.34,14.45
$GC,1720,0.59,146.6,2218,1705,2662,2718,98.1,12.1,242,1728,0.00,2.42,0.00,0.000,388,0.000,0.077,2220,3110,2690,2662,2718,0,0,0,0,0,0,14.72,14.50,14.74
$GC,1875,0.49,146.6,2219,3110,2662,2717,79.9,10.0,272,1885,0.28,2.42,0.00,0.000,5254,0.253,0.066,2162,1714,2690,2662,2718,0,0,0,0,0,0,14.36,14.50,14.59
$GC,2068,0.59,240.4,2162,1712,2662,2715,68.5,5.7,309,2151,0.00,2.55,74.70,1.042,8484,0.000,0.073,2162,3113,2317,2310,2325,0,0,0,0,0,0,14.79,14.28,13.78
$GC,2190,0.73,308.4,2162,3112,2307,2324,61.3,6.9,329,2255,0.20,2.47,53.92,1.005,11430,0.097,0.065,2249,1699,2040,2046,2035,0,0,0,0,0,0,14.43,14.38,13.74
$GC,2438,0.68,308.4,2249,1700,2042,2025,29.6,13.0,375,2445,0.00,0.00,0.00,0.000,134,0.000,0.000,2249,1699,2033,2043,2024,0,0,0,0,0,0,14.66,14.68,14.68
$STATE,2628,end climb,SURFACE_DEPTH_REACHED
$STATE,2628,begin surface coast
$FINISH,0.3,1.022245
$STATE,2643,end surface coast,CONTROL_FINISHED_OK
$STATE,2644,begin surface
$SM_CCo,2662,304.77,0.881,1,0,499,686.83
$SM_CCo,2975,-0.20,0.418,0,0,501,686.83
$SM_CCo,2978,0.00,0.000,0,0,501,686.83
$SM_GC,0.52,5.95,1.08,0.00,0.060,0.078,0.000,165,2305,501,-5.64,-0.57,686.83,0,0,0,0,0,0,14.63,14.57,14.44
$IRIDIUM_FIX,4747.28,-12224.09,020920,182627
$TT8_MAMPS,0.02247,0.998417
$HUMID,44.56
$INTERNAL_PRESSURE,8.06608
$TCM_TEMP,20.00
$XPDR_PINGS,1
$SC_FREEKB,3907904
$TM_FREEKB,7802912
$24V_AH,13.20,0.000
$10V_AH,13.33,13.424
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,15.800,31.300,366.250,304.775,0.000,0.000,0.000,0.000,0.250,0.000,29.158,924.461,617.657,756.512,747.156,38.800,0.000,1167.982,0.000,655.927,0.000,0.540,0.000
$DEVICE_MAMPS,405.450,122.400,1143.675,880.515,0.000,0.000,0.000,0.000,420.000,0.000,10.490,12.470,2.190,12.470,31.190,36.440,0.000,10.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2634.000,2634.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,46.960,554.618,0.000,0.000
$MEM,301636
$DATA_FILE_SIZE,13430,415
$CAP_FILE_SIZE,67812,0
$CFSIZE,2097872896,2094792704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.051,336.95,1
$GPS,020920,192342,4744.867,-12225.459,5,1.4,19,16.3,0.0,129.8,6,9.8